Trajectory Tracking Nonlinear Model Predictive Control for an Overactuated MAV
dc.contributor.author
Brunner, Maximilian
dc.contributor.author
Bodie, Karen
dc.contributor.author
Kamel, Mina
dc.contributor.author
Pantic, Michael
dc.contributor.author
Zhang, Weixuan
dc.contributor.author
Nieto, Juan
dc.contributor.author
Siegwart, Roland
dc.date.accessioned
2020-10-29T09:28:25Z
dc.date.available
2020-10-24T06:45:01Z
dc.date.available
2020-10-29T09:28:25Z
dc.date.issued
2020
dc.identifier.isbn
978-1-7281-7395-5
en_US
dc.identifier.isbn
978-1-7281-7394-8
en_US
dc.identifier.isbn
978-1-7281-7396-2
en_US
dc.identifier.other
10.1109/ICRA40945.2020.9197005
en_US
dc.identifier.uri
http://hdl.handle.net/20.500.11850/447636
dc.description.abstract
This work presents a method to control omnidirectional micro aerial vehicles (OMAVs) for the tracking of 6-DoF trajectories in free space. A rigid body model based approach is applied in a receding horizon fashion to generate optimal wrench commands that can be constrained to meet limits given by the mechanical design and actuators of the platform. Allocation of optimal actuator commands is performed in a separate step. A disturbance observer estimates forces and torques that may arise from unmodeled dynamics or external disturbances and fuses them into the optimization to achieve offset-free tracking. Experiments on a fully overactuated MAV show the tracking performance and compare it against a classical PD-based controller. © 2020 IEEE.
en_US
dc.language.iso
en
en_US
dc.publisher
IEEE
en_US
dc.title
Trajectory Tracking Nonlinear Model Predictive Control for an Overactuated MAV
en_US
dc.type
Conference Paper
dc.date.published
2020-09-15
ethz.book.title
2020 IEEE International Conference on Robotics and Automation (ICRA)
en_US
ethz.pages.start
5342
en_US
ethz.pages.end
5348
en_US
ethz.event
IEEE International Conference on Robotics and Automation (ICRA 2020)
en_US
ethz.event.location
Online
en_US
ethz.event.date
May 31 - August 31, 2020
en_US
ethz.notes
Due to the Coronavirus (COVID-19) the conference was conducted virtually.
en_US
ethz.identifier.scopus
ethz.publication.place
Piscataway, NJ
en_US
ethz.publication.status
published
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems::03737 - Siegwart, Roland Y. / Siegwart, Roland Y.
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02100 - Dep. Architektur / Dep. of Architecture::02284 - NFS Digitale Fabrikation / NCCR Digital Fabrication
ethz.leitzahl.certified
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems::03737 - Siegwart, Roland Y. / Siegwart, Roland Y.
ethz.date.deposited
2020-10-24T06:45:37Z
ethz.source
SCOPUS
ethz.eth
yes
en_US
ethz.availability
Metadata only
en_US
ethz.rosetta.installDate
2020-10-29T09:28:40Z
ethz.rosetta.lastUpdated
2022-03-29T03:51:07Z
ethz.rosetta.versionExported
true
ethz.COinS
ctx_ver=Z39.88-2004&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rft.atitle=Trajectory%20Tracking%20Nonlinear%20Model%20Predictive%20Control%20for%20an%20Overactuated%20MAV&rft.date=2020&rft.spage=5342&rft.epage=5348&rft.au=Brunner,%20Maximilian&Bodie,%20Karen&Kamel,%20Mina&Pantic,%20Michael&Zhang,%20Weixuan&rft.isbn=978-1-7281-7395-5&978-1-7281-7394-8&978-1-7281-7396-2&rft.genre=proceeding&rft_id=info:doi/10.1109/ICRA40945.2020.9197005&rft.btitle=2020%20IEEE%20International%20Conference%20on%20Robotics%20and%20Automation%20(ICRA)
Files in this item
| Files | Size | Format | Open in viewer |
|---|---|---|---|
|
There are no files associated with this item. |
|||
Publication type
-
Conference Paper [36264]